{"id":"https://openalex.org/W2123150121","doi":"https://doi.org/10.1109/iros.2004.1389624","title":"Roadmap-based motion planning in dynamic environments","display_name":"Roadmap-based motion planning in dynamic environments","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2123150121","doi":"https://doi.org/10.1109/iros.2004.1389624","mag":"2123150121"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389624","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102992683","display_name":"J.P. van den Berg","orcid":"https://orcid.org/0000-0003-1170-1470"},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"J.P. van den Berg","raw_affiliation_strings":["Institute of Information and Computing Sciences, Utrecht University, The Netherlands","[Inst. of Inf. & Comput. Sci., Utrecht Univ., Netherlands]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information and Computing Sciences, Utrecht University, The Netherlands","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"[Inst. of Inf. & Comput. Sci., Utrecht Univ., Netherlands]","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109665846","display_name":"M.H. Overmars","orcid":null},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"M.H. Overmars","raw_affiliation_strings":["Institute of Information and Computing Sciences, Utrecht University, The Netherlands","[Inst. of Inf. & Comput. Sci., Utrecht Univ., Netherlands]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information and Computing Sciences, Utrecht University, The Netherlands","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"[Inst. of Inf. & Comput. Sci., Utrecht Univ., Netherlands]","institution_ids":["https://openalex.org/I193662353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193662353"],"apc_list":null,"apc_paid":null,"fwci":1.2824,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.81313734,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"1598","last_page":"1605"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11574","display_name":"Artificial Intelligence in Games","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.832604169845581},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.765323281288147},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7179407477378845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7178281545639038},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.708580732345581},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6521505117416382},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.5605759024620056},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5561919808387756},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5136660933494568},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5050955414772034},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4815669059753418},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4740331470966339},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43598031997680664},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4310445487499237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4107486605644226},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11515864729881287}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.832604169845581},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.765323281288147},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7179407477378845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7178281545639038},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.708580732345581},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6521505117416382},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.5605759024620056},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5561919808387756},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5136660933494568},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5050955414772034},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4815669059753418},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4740331470966339},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43598031997680664},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4310445487499237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4107486605644226},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11515864729881287},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389624","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W14248017","https://openalex.org/W101508493","https://openalex.org/W1546814349","https://openalex.org/W1586046881","https://openalex.org/W1763528081","https://openalex.org/W1937587174","https://openalex.org/W1973400989","https://openalex.org/W2036016432","https://openalex.org/W2055891854","https://openalex.org/W2096447271","https://openalex.org/W2127772657","https://openalex.org/W2128990851","https://openalex.org/W2133710727","https://openalex.org/W2142644931","https://openalex.org/W2166462345","https://openalex.org/W2312064194","https://openalex.org/W4242811155","https://openalex.org/W6634885529"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2050548713","https://openalex.org/W4380590094"],"abstract_inverted_index":{"In":[0],"this":[1,53],"paper":[2],"a":[3,17,20,23,35,40,60,63,85,88,134,138],"new":[4],"method":[5,146],"is":[6,43,66,81,100],"presented":[7],"for":[8,19,45,87,133],"motion":[9],"planning":[10],"in":[11,22,95,106,137,150],"dynamic":[12,117],"environments,":[13],"that":[14,42,69,144],"is,":[15],"finding":[16],"trajectory":[18,58,80],"robot":[21,71,104,136],"scene":[24],"consisting":[25],"of":[26,49,115],"both":[27],"static":[28,47],"and":[29,112,141],"dynamic,":[30],"moving":[31,77],"obstacles.":[32],"We":[33],"propose":[34],"practical":[36],"algorithm":[37],"based":[38],"on":[39,91],"roadmap":[41,54],"created":[44],"the":[46,50,70,113,116,145],"part":[48],"scene.":[51],"On":[52],"an":[55,92],"approximate":[56],"time-optimal":[57],"from":[59],"start":[61],"to":[62,102],"goal":[64],"configuration":[65,107],"computed,":[67],"such":[68],"does":[72],"not":[73],"collide":[74],"with":[75,109],"any":[76,103,110],"obstacle.":[78],"The":[79,98,128],"found":[82],"by":[83],"performing":[84],"search":[86],"shortest":[89],"path":[90],"implicit":[93],"grid":[94],"state-time":[96],"space.":[97],"approach":[99,129],"applicable":[101],"type":[105],"spaces":[108],"dimension,":[111],"motions":[114],"obstacles":[118],"are":[119,125],"unconstrained,":[120],"as":[121,123],"long":[122],"they":[124],"known":[126],"beforehand.":[127],"has":[130],"been":[131],"implemented":[132],"free-flying":[135],"three-dimensional":[139],"workspace":[140],"experiments":[142],"show":[143],"achieves":[147],"interactive":[148],"performance":[149],"complex":[151],"environments.":[152]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
